##File/Folder Information

This contains a smorgasbord of projects for testing and implementation. At this point, they are obsolete, but haven't been deleted just in case we need them again.

This is a folder where we test changes to our command library. The command files here are identical to the navigation_statemachine folder. This is because Arduino doesn't currently support referencing files from different folder's than the sketch folder.

This is the test file for our command library.

Same as in /navigation_statemachine.

Same as in /navigation_statemachine.

A test file to see if the AT commands can be run on the Linux platform. Results have not been obtained yet.

Header file for s2ip, definition for port number, some constant like timeout, buffer size and so on.

The program that is compiled and run on AR.Drone. The compiler toolchain used is sourcery G++ Lite 2010q1-202 for ARM GNU/Linux [1]. It acts like a proxy between the serial connection from Arduino and the network interface of the drone. When the program runs, it receives commands from Serial TTY interface at the bottom of the drone, wraps the commands into a UDP packet, and routes the packet to the AT command receiving port of the Drone. It can also obtain packets that the Drone is sending out on the network interface, through modifying iptables on the system (please look at the source code for explanation).

This is where all the navigation code is stored. This folder interfaces the Command library with the Navigation algorithm to make the Drone travel the path.

This is the command library file. It is an abstract interface for the "AT*" commands that the AR.Drone recognizes.

This is a simple (external) streaming library. It allows one to simply "pipe" out most variables (i.e. Serial << "Print me:" << 23456 ) All credit to the creators who can be found in the header of the file.

This is the main Arduino sketch for the navigation algorithm. Dependencies are referenced inside the sketch.

This is another external library which allows efficient parsing and reading of pertinent information in the GPS sentences delivered by our GPS receiver. This source code was not initially created by us, however it was modified for our needs. It now only receives GPRMC updates to correct the course. The specific code modifications can be found in the commit history of this file.ls

Electrical and Computer Engineering Department Tufts University

Copyright 2011-2012 All rights reserved. No warranty provided or inferred. Use this at your own risk, mis-understanding, or incorrect wiring may render some of your hardware obsolete. We take no responsibility for any damages you incur by using our work.

• Taylor H. Perkins
• Weiyi Zheng
• Yorman Garcia
• Farhan Shaukat

Please contact us if you would like to use this code, as there are some binary files omitted here that are necessary for functioning.